SGH-I337 Stuck In Recovery Boot Loop

So I tried to downgrade my Galaxy S4 from 5.1 to root it, but I forgot to enable USB Debugging before I did. When I tried to use ODIN to flash the downgraded ROM and it failed, I ended up on the screen that says "Firmware Upgrade Encountered an Issue". After some research and tinkering I was able to re-partition my phone, but now it is stuck in a bootloop, only able to boot into stock recovery or download mode. Is there anything I can do to fix it?